CN115681391B - Self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system - Google Patents
Self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system Download PDFInfo
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- 229920001971 elastomer Polymers 0.000 title claims abstract description 78
- 239000000806 elastomer Substances 0.000 title claims abstract description 78
- 238000002955 isolation Methods 0.000 title claims abstract description 18
- 238000004146 energy storage Methods 0.000 claims abstract description 23
- 238000011217 control strategy Methods 0.000 claims abstract description 7
- 230000001105 regulatory effect Effects 0.000 claims abstract description 6
- 230000026058 directional locomotion Effects 0.000 claims abstract description 4
- 238000009413 insulation Methods 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 3
- 238000013016 damping Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
The invention belongs to the technical field of semi-active vibration control, and relates to a self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system, which comprises a magnetorheological elastomer, an electrode plate, an electromagnetic coil, an electrometer, a data acquisition device, an upper computer, a controller and an energy storage device, wherein the electrode plate is arranged on the magnetorheological elastomer; the electrode plate rubs with the magneto-rheological elastomer to generate vibration charge; the electrometer is used for detecting vibration current formed by directional movement of vibration charges and transmitting a current signal to the upper computer; the upper computer calculates the average current and determines the vibration characteristics of the vibration load according to the average current; the energy storage device is used for converting vibration current into electric energy for storage; the upper computer adopts a self-adaptive control strategy, and the energy storage device is controlled by the controller to provide current for the electromagnetic coil to be converted into a magnetic field, so that the output force of the magnetorheological elastomer vibration isolator is regulated in real time. The self-sensing self-energy supply self-adaptive control of the magnetorheological elastomer vibration isolation is realized, and the magnetorheological elastomer vibration isolation system is high in integration level, small in size and low in cost.
Description
Technical Field
The invention belongs to the technical field of semi-active vibration control, and relates to a self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system.
Background
The magnetorheological elastomer vibration isolator as an intelligent vibration damper has the advantages of simple structure, small volume, low energy consumption, continuous and adjustable damping and the like. In abroad, the Blom designs a vibration isolator based on a magnetorheological elastomer, and the vibration isolator has good vibration damping performance under various external excitation; farshad et al designed noise reduction windows based on magnetorheological elastomer materials, have stronger wind and noise resistance, and effectively improve the living experience of users. At home, yu Miao and Mao Linzhang of Chongqing university design a variable stiffness buffer adopting a magnetorheological elastomer and design a corresponding controller, so that the impact resistance level of the lunar-climbing robot is effectively improved.
The current magneto-rheological damper system needs a large number of sensing systems to realize the perception of external excitation, which not only can increase the cost of the system, but also can obviously increase the complexity of the system and the difficulty of system control. In addition, the magnetorheological vibration isolator regulates and controls the mechanical property of the magnetorheological vibration isolator by regulating the magnitude of input current, and when the supply of power is limited or continuous stable power supply is difficult to be ensured due to uncontrollable factors such as natural disasters, unstable signals and the like, the vibration damping performance of the magnetorheological vibration isolation system is severely restricted.
For this reason, it is of great importance to study magnetorheological elastomer vibration isolator systems that are self-sensing, self-powered and adaptively controlled.
Disclosure of Invention
In view of the above, the invention aims to provide a self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system, which solves the problems of low vibration reduction efficiency, poor adaptability and the like caused by the lack of self-sensing and self-power supply capability of the existing magnetorheological elastomer vibration isolator on the premise of reducing the complexity of the system and the cost of the system.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the magnetorheological elastomer vibration isolator comprises a magnetorheological elastomer and an electromagnetic coil, wherein the electromagnetic coil surrounds the outer side of the magnetorheological elastomer; the system also comprises an electrometer, a data acquisition device, an upper computer, a controller and an energy storage device; the magnetorheological elastomer is adhered with electrode plates on the upper surface and the lower surface; the energy storage device and the electrometer are respectively connected with electrode plates on the upper surface and the lower surface, the electrometer is connected with an upper computer through a data acquisition device, and the upper computer is connected with the electromagnetic coil through a controller and the energy storage device;
The electrode plate rubs with the magnetorheological elastomer to generate vibration charges when the magnetorheological elastomer vibration isolator receives vibration load; the electrometer is used for detecting vibration current formed by directional movement of vibration charges and transmitting a current signal to the upper computer through the data acquisition device; the upper computer calculates average current and determines vibration characteristics of vibration load according to the average current; the energy storage device is used for converting vibration current into electric energy for storage; the upper computer adopts a self-adaptive control strategy, and the energy storage device is controlled by the controller to provide current for the electromagnetic coil to be converted into a magnetic field, so that the output force of the magnetorheological elastomer vibration isolator is regulated in real time.
Further, the adaptive control strategy is: the current supplied to the electromagnetic coil is subjected to stepless regulation according to the vibration load, so that the output force of the magnetorheological elastomer vibration isolator is continuously regulated and controlled. The scheme can enable the output force resisting vibration to be continuously changed along with the intensity of vibration, the vibration reduction force of the system is improved more accurately, the system stability is better, and the vibration reduction effect is stable.
Further, the magnetorheological elastomer and the electrode plates are provided with a plurality of groups, and electrodes with the same polarity of the electrode plates in each group are connected in parallel. The electrode plate does not have polarity, and generates mobile charge after friction with the magnetorheological elastomer, so that the electrode plate has polarity, the electrode plate attached to the upper surface and the lower surface of the magnetorheological elastomer has different polarities, namely, a group of magnetorheological elastomer, the electrode plate and the energy storage device form a power generation unit, and the current formed by the mobile charge is stored.
Further, the magnetorheological elastomers further comprise electric insulation magnetic conduction layers, and the electric insulation magnetic conduction layers are arranged between two adjacent magnetorheological elastomers. When a plurality of groups of power generation units are used, the power generation units are possibly contacted with electrode plates with different polarities due to vibration, so that short circuit is generated.
Further, the magnetorheological elastomer vibration isolator sequentially comprises a lower connecting bottom plate, a lower bottom plate, a central shaft, an upper cover plate and an upper connecting plate from bottom to top; the central shaft is sleeved with a coil support, and the electromagnetic coil is arranged on the coil support.
Further, the magnetorheological elastomer vibration isolator further comprises a sleeve; the sleeve is sleeved on the central shaft and surrounds the electromagnetic coil and the coil support. The sleeve can play a role in isolating and protecting the electromagnetic coil.
The invention has the beneficial effects that:
1. The magnetorheological elastomer and the electrode plates are rubbed with each other to generate electric charge, the electric current is formed by qualitative movement, the main characteristics of vibration load such as displacement, speed, acceleration and frequency can be determined by detecting the electric current by using the electrometer, the self-sensing of the working state of the magnetorheological elastomer vibration isolator is realized, the problem that the complexity of the system is seriously improved due to the fact that a large number of sensors are adopted by the traditional magnetorheological vibration isolator system is avoided, the integral integration and the structural simplification of the system are improved, the cost of the system is reduced, the occupied space of the whole system is reduced, and the practical application and development of the magnetorheological vibration isolator system are promoted.
2. The electric energy generated by friction electrification is stored through the energy storage device and is used for self-adaptive power supply of the electromagnetic coil, self-sufficiency of vibration isolation system energy is achieved, the vibration isolation system is not easily influenced by uncontrollable factors such as natural disasters and unstable signals, the stability of power supply is high, and the application field of the magnetorheological elastomer vibration isolator can be greatly expanded.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in the following preferred detail with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a self-powered self-sensing self-adaptive control magnetorheological elastomer vibration isolation system.
Reference numerals: 1-lower connection bottom plate, 2-lower bottom plate, 3-sleeve, 4-coil support, 5-solenoid, 6-upper cover plate, 7-upper connection plate, 8-electrically insulating magnetic conduction layer, 9-magneto-rheological elastomer, 10-electrode slice, 11-energy storage device, 12-electrometer, 13-data acquisition device, 14-controller, 15-host computer.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present invention, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1, a self-sensing self-energy-supply self-adaptive control magneto-rheological elastomer 9 vibration isolation system is provided, wherein the magneto-rheological elastomer 9 vibration isolator is composed of a lower connecting bottom plate 1, a lower bottom plate 2, a central shaft, a sleeve 3, a coil bracket 4, an electromagnetic coil 5, an upper cover plate 6, an upper connecting plate 7, an electric insulation magnetic conduction layer 8 and a magneto-rheological elastomer 9; the central shaft is hollow structure, the magneto-rheological elastomer 9 is arranged inside the central shaft, the coil support 4 is tightly sleeved outside the central shaft and is coaxial with the central shaft, the electromagnetic coil 5 is wound on the coil support 4, the sleeve 3 is sleeved on the central shaft as well, the coil support 4 and the electromagnetic coil 5 are enclosed inside, and the inner surface of the sleeve 3 is in close contact with the coil support 4. The key of the vibration isolation system is that the magnetorheological elastomer 9 is based on a core element of the magnetorheological elastomer 9 vibration isolator, the self-sensing module, the vibration energy acquisition module and the self-adaptive control module are integrated, units among the modules are mutually overlapped in a crossing mode, the integration level is high, and the whole occupied space of the system is small.
The self-sensing module is composed of a magnetorheological elastomer 9, an electrode plate 10, an electrically insulating magnetic conduction layer 8, an electrometer 12, a data acquisition device 13 and an upper computer 15. The electrode sheet 10 is bonded to the upper and lower surfaces of the magnetorheological elastomer 9, and can generate friction with each other. The electrode plate 10 is connected with an electrometer 12, a data acquisition device 13 and an upper computer 15 in sequence. The electrically insulating magnetically permeable layer 8 is located between two adjacent self-sensing modules, preventing contact shorting of adjacent electrode pads 10. The magnetorheological elastomer 9 vibration isolator comprises a plurality of groups of self-sensing modules, and homopolar electrodes of the modules are connected in parallel and then connected to the electrometer 12. When the magnetorheological elastomer 9 vibration isolator receives vibration load, the magnetorheological elastomer 9 and the electrode plate 10 form a friction nano generator, charges are generated by mutual friction, current is formed through directional movement of the charges, the electrometer 12 detects the magnitude of real-time monitoring current and transmits a current signal to the upper computer 15 through the data acquisition device 13, the upper computer 15 firstly solves the average current from the sensing module, and then can determine the characteristics of the vibration load, such as vibration displacement, speed, acceleration and frequency, according to the magnitude of the average current, so that the self-sensing of the working state of the magnetorheological elastomer 9 vibration isolator is realized.
The magnetorheological elastomer 9, the electrode plate 10 and the energy storage device 11 form a vibration energy acquisition module, the energy storage device 11 is directly connected with the electrode plate 10, and electric energy generated by mutual friction of the magnetorheological elastomer 9 and the electrode plate 10 can be stored. The energy storage device 11 can supply power to the electromagnetic coil 5 of the magnetorheological elastomer 9 vibration isolator according to an external control signal, and can output a current of a predetermined magnitude according to the control signal. The energy storage device 11 collects electric energy generated by friction between the elastic body and the electrode plate 10 so as to supply power to the electromagnetic coil 5 of the magneto-rheological elastic body 9 vibration isolator; when the energy storage device 11 is not sufficiently charged, it may be charged by an external power source or the electromagnetic coil 5 may be directly supplied with power.
When the magnetorheological elastomer 9 vibration isolator is subjected to vibration load, the upper computer 15 reversely calculates the magnitude of exciting current required at the moment according to the vibration load characteristic determined by the self-sensing module, and outputs a control signal to the controller 14, and the controller 14 controls the energy storage module to output current with the designated magnitude according to the adjusting signal, so that magnetic fields with different magnitudes are generated by adjusting, and the mechanical characteristics of the magnetorheological elastomer 9 are changed, and the self-adaptive control of the magnetorheological elastomer 9 vibration isolator is realized, so that the vibration load is reduced or even suppressed. The self-adaptive control module adopts a self-adaptive control strategy to adjust the output force of the magnetorheological elastomer 9 vibration isolator in real time, and the self-adaptive control strategy is to continuously adjust the current supplied to the electromagnetic coil 5 according to the vibration load, so as to realize the continuous adjustment and control of the output force of the magnetorheological elastomer 9 vibration isolator.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (5)
1. The self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system comprises a magnetorheological elastomer vibration isolator, wherein the magnetorheological elastomer vibration isolator comprises a magnetorheological elastomer and an electromagnetic coil, and the electromagnetic coil surrounds the outer side of the magnetorheological elastomer; the method is characterized in that: the system also comprises an electrometer, a data acquisition device, an upper computer, a controller and an energy storage device; the magnetorheological elastomer is adhered with electrode plates on the upper surface and the lower surface; the energy storage device and the electrometer are respectively connected with electrode plates on the upper surface and the lower surface, the electrometer is connected with an upper computer through a data acquisition device, and the upper computer is connected with the electromagnetic coil through a controller and the energy storage device;
The electrode plate rubs with the magnetorheological elastomer to generate vibration charges when the magnetorheological elastomer vibration isolator receives vibration load; the electrometer is used for detecting vibration current formed by directional movement of vibration charges and transmitting a current signal to the upper computer through the data acquisition device; the upper computer calculates average current and determines vibration characteristics of vibration load according to the average current; the energy storage device is used for converting vibration current into electric energy for storage; the upper computer reversely calculates the magnitude of exciting current required at the moment according to the vibration characteristics of the determined vibration load and outputs a control signal to the controller, the controller controls the energy storage device to output current with the specified magnitude according to the control signal so as to realize the self-adaptive control of the magnetorheological elastomer vibration isolator, the upper computer adopts a self-adaptive control strategy, the controller controls the energy storage device to provide current to the electromagnetic coil to convert the current into a magnetic field, and the output force of the magnetorheological elastomer vibration isolator is regulated in real time;
the adaptive control strategy is: the current supplied to the electromagnetic coil is subjected to stepless regulation according to the vibration load, so that the output force of the magnetorheological elastomer vibration isolator is continuously regulated and controlled.
2. A self-sensing self-powered self-adaptive controlled magnetorheological elastomer vibration isolation system as claimed in claim 1, wherein: the magnetorheological elastomer and the electrode plates are provided with a plurality of groups, and the electrodes with the same polarity of each group of electrode plates are connected in parallel.
3. A self-sensing self-powered self-adaptive controlled magnetorheological elastomer vibration isolation system as claimed in claim 2, wherein: the magnetorheological elastomers further comprise electric insulation magnetic conduction layers, and the electric insulation magnetic conduction layers are arranged between two adjacent magnetorheological elastomers.
4. A self-sensing self-powered self-adaptive controlled magnetorheological elastomer vibration isolation system as claimed in claim 1, wherein: the magnetorheological elastomer vibration isolator sequentially comprises a lower connecting bottom plate, a lower bottom plate, a central shaft, an upper cover plate and an upper connecting plate from bottom to top; the central shaft is sleeved with a coil support, and the electromagnetic coil is arranged on the coil support.
5. A self-sensing self-powered self-adaptive controlled magnetorheological elastomer vibration isolation system as claimed in claim 4, wherein: the magnetorheological elastomer vibration isolator further comprises a sleeve; the sleeve is sleeved on the central shaft and surrounds the electromagnetic coil and the coil support.
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